Systems and methods are provided for navigating an autonomous vehicle. In one implementation, a navigational system for a host vehicle may include at least one processor programmed to: receive a stream of images captured by a camera onboard the host vehicle, wherein the captured images are representative of an environment surrounding the host vehicle; and receive an output of a LIDAR onboard the host vehicle, wherein the output of the LIDAR is representative of a plurality of laser reflections from at least a portion of the environment surrounding the host vehicle. The at least one processor may also be configured to determine at least one indicator of relative alignment between the output of the LIDAR and at least one image captured by the camera; attribute LIDAR reflection information to one or more objects identified in the at least one image based on the at least one indicator of the relative alignment between the output of the LIDAR and the at least one image captured by the camera; and use the attributed LIDAR reflection information and the one or more objects identified in the at least one image to determine at least one navigational characteristic associated with the host vehicle.